JP2000002290A - Active noise and vibration control device and active noise and vibration control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent lowering of control performance by providing a reset means for changing the divergence inhibit item in the reverse direction to the divergence inhibit direction when the environment temperature of a transmission system changes from a state different from a preset reference temperature to the reference temperature. SOLUTION: The environment temperature of a vibration transmission system gradually reaches the region of ordinary temperature when an engine is started at a time (t1), and shifting of transmission function of the vibration transmission system gradually decreases. At this time, when the temperature detection value (t) exceeds a low temperature threshold (tL) at a time (t3), divergence inhibit coefficient β is reset to an initial value by a divergence inhibit coefficient reset processing. Accordingly, at the time (t3), the environment temperature of the vibration transmission system exceeds the low temperature threshold (tL) to reach the region of ordinary temperature, and at this time, by setting the divergence inhibit coefficient β to the initial value, the divergence inhibit coefficient β is returned to the initial state when the divergence cause is eliminated. Accordingly, the divergence inhibit coefficient β corresponding to the actual transfer function of the drive transmission system is set to improve the convergence to the optimum value and so that the vibration reducing control is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise / vibration control apparatus and a vehicle for executing noise / vibration reduction control using an adaptive digital filter whose filter coefficient is updated in accordance with an adaptive algorithm. An active vibration control apparatus, particularly, capable of appropriately coping with a characteristic change of a transmission system of sound or vibration emitted from a control sound source or a control vibration source due to a temperature change. .

[0002]

2. Description of the Related Art As a prior art of this kind, there is one disclosed in Japanese Patent Laid-Open Publication No. Hei 5-61483 previously proposed by the present applicant.

[0003] That is, the prior art described in this publication is
The present invention relates to an active noise control device using an adaptive algorithm such as an LMS algorithm, and more specifically, as an evaluation function in an adaptive algorithm, a square value of a residual noise signal which is an interference result of noise to be reduced and control sound. The present invention relates to an active noise control device using the sum of the square value of a drive signal to a loudspeaker that emits a control sound.

[0004] In the conventional active noise control device described in the above publication, a coefficient multiplied by the square of the drive signal included in the evaluation function (referred to as an effort coefficient in the above publication). ) Is changed in a direction in which the divergence is suppressed (a direction in which the filter coefficient is reduced) as the divergence of the control progresses, whereby the divergence of the control is suppressed even when the acoustic transfer function changes. Since the control can be effectively suppressed, the control can be prevented from diverging in earnest, and when applied to a vehicle, for example, occupants and the like do not have to feel uncomfortable.

[0005]

Here, as a method of setting the adaptive digital filter, a method of setting the adaptive digital filter based on the transmission characteristics of the noise transmission system can be considered. The transfer characteristics under the environment in the initial state are set. For example, when the temperature environment changes, the transmission characteristics of the noise transmission system also change according to the temperature change, so that the transmission characteristics do not match the actual conditions, so that the control tends to diverge. Since the coefficient for suppressing the divergence is changed in the direction to suppress the divergence, the divergence suppressing effect can be obtained. In the case of such transfer characteristic shift due to such a change in the temperature environment,
The temperature environment may return to the initial state. In other words, the deviation of the transfer characteristic may recover, but in this case, the divergence suppression term at this point is set to the value at the time of the deviation of the transfer characteristic. is there. However, in the above-described conventional example, although the change in the direction of suppressing the divergence is performed as the tendency of divergence becomes stronger, the change in the direction opposite to the direction of suppressing the divergence is not performed. There is a problem that the noise reduction control is performed while the divergence suppressing action tends to be excessive, and the control performance is reduced.

[0006] The above problems are not limited to the active noise control device, but also apply to the active vibration control device that executes the vibration reduction control using the adaptive algorithm. If the vibration transmission system includes a rubber or the like whose vibration transmission characteristics change greatly in response to a temperature change, the temperature transmission environment will change greatly depending on the temperature, and the temperature environment will be in the initial state. When the temperature environment returns to, the divergence suppressing effect tends to be excessive, and the control performance further decreases.

Therefore, the present invention has been made in view of the above-mentioned unsolved problem in the related art, and is intended to avoid a decrease in control performance due to a change in transmission characteristics of a transmission system due to a temperature change. It is an object of the present invention to provide a possible active noise vibration control device and a vehicle vibration control device.

[0008]

To achieve the above object, an active noise and vibration control apparatus according to claim 1 uses an adaptive digital filter whose filter coefficient is updated according to an adaptive algorithm to reduce noise or vibration. While executing the reduction control, the update equation of the filter coefficient includes a divergence suppression term having a transfer function of a sound or vibration transfer system and a divergence suppression function of the control, and when the divergence of the control is detected. In the active noise and vibration control device adapted to change the divergence suppression term in the divergence suppression direction, when the environmental temperature of the transmission system becomes a reference temperature from a state different from a preset reference temperature, Reset means is provided for changing the divergence suppression term in a direction opposite to the divergence suppression direction.

An active noise and vibration control device according to a second aspect of the present invention provides a control sound source or control vibration source capable of generating a control sound or control vibration that interferes with noise or vibration generated from a noise source or a vibration source; Reference signal generating means for generating a reference signal indicating the state of noise or vibration, residual noise detecting means or residual vibration detecting means for detecting the noise or vibration after the interference and outputting it as a residual noise signal or residual vibration signal,
An adaptive digital filter having a variable filter coefficient, drive signal generating means for generating a drive signal for driving the control sound source or the control vibration source by filtering the reference signal with the adaptive digital filter, and set according to an adaptive algorithm; And according to the update formula including a divergence suppression term having a divergence suppression function of the transfer function and control of the transmission system of sound or vibration between the control sound source or control vibration source and the residual noise detection means or residual vibration detection means, Filter coefficient updating means for updating the filter coefficient of the adaptive digital filter, divergence detecting means for detecting control divergence, and changing the divergence suppression term in the divergence suppression direction when the divergence detection means detects control divergence. And a divergence suppressing unit for detecting the environmental temperature of the transmission system. Based on the temperature detected by the temperature detecting means and the detected temperature of the temperature detecting means, when the environmental temperature of the transmission system changes from a state different from a preset reference temperature to a reference temperature, the divergence suppression term is reversed in the divergence suppression direction. Reset means for changing the direction.

In the active noise and vibration control apparatus according to a third aspect, the reset means may be arranged such that when the environmental temperature is changed from a state lower than a predetermined low-side threshold to a low-side threshold or more. The divergence suppression term is changed in a direction opposite to the divergence suppression direction.

Further, in the active noise and vibration control apparatus according to a fourth aspect, the resetting means may be arranged such that when the environmental temperature falls from a state higher than a preset high temperature side threshold to a temperature lower than the high temperature side threshold. The divergence suppression term is changed in a direction opposite to the divergence suppression direction.

According to a fifth aspect of the present invention, there is provided an active noise and vibration control apparatus which executes noise or vibration reduction control using an adaptive digital filter whose filter coefficient is updated according to an adaptive algorithm. The update equation of the filter coefficient is an update equation including a divergence suppression term having a transfer function of a vibration transmission system and a divergence suppression function of control, and changes in a divergence suppression direction when divergence of control is detected. A divergence-corresponding divergence suppression term setting means for setting a divergence-corresponding divergence suppression term; a temperature detection means for detecting an environmental temperature of the transmission system; Temperature-dependent divergence suppression term setting means, and sets the larger divergence suppression tendency among the divergence-corresponding divergence suppression term and the temperature-corresponding divergence suppression term as the divergence suppression term. Divergence suppression term update means, and reset means for changing the divergence-corresponding divergence suppression term in a direction opposite to the divergence suppression direction when the environmental temperature of the transmission system becomes a reference temperature from a state different from a preset reference temperature. And characterized in that:

Further, an active vibration control device for a vehicle according to a sixth aspect of the present invention generates a control vibration source capable of generating a control vibration that interferes with a vibration emitted from an engine, and generates a reference signal indicating a state of the generation of the vibration. Reference signal generating means, residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal, an adaptive digital filter having a variable filter coefficient, and controlling the reference signal by filtering the reference signal with the adaptive digital filter. A drive signal generating means for generating a drive signal for driving the vibration source, and a transfer function of a vibration transmission system between the control vibration source and the residual vibration detection means, the function being set according to an adaptive algorithm, and a divergence suppressing function of control. Filter coefficient updating means for updating the filter coefficient of the adaptive digital filter according to an updating expression including a divergence suppression term having An active vibration control device comprising: divergence detection means for detecting divergence of control; and divergence suppression means for changing the divergence suppression term in the divergence suppression direction when the divergence detection means detects divergence of control. , A temperature detecting means for detecting an environmental temperature of the transmission system, and an elapsed time measuring means for detecting an elapsed time since the start of the engine when the environmental temperature before the start of the engine is smaller than a predetermined threshold value And reset means for changing the divergence suppression term in a direction opposite to the divergence suppression direction when the measurement time of the elapsed time measurement means exceeds a preset warm-up time,
It is characterized by having.

In the invention according to claim 1 or 2, when the temperature of the transmission system detected by the temperature detecting means changes from a state different from a preset reference temperature to the reference temperature, the divergence suppression term is reset by the resetting means. The value is changed to a value in a direction opposite to the divergence suppression direction, and noise or vibration reduction control is performed in accordance with an update formula based on the updated divergence suppression term.
Here, since the transfer characteristic of the sound or vibration of the transfer system changes with the temperature change, the transfer function is usually identified at room temperature, but when the temperature of the transfer system deviates from room temperature, the actual transfer characteristics and Means that noise or vibration reduction control is performed based on an update formula based on different transfer characteristics. for that reason,
Since the accuracy of the transfer characteristic is reduced and the control becomes unstable and tends to diverge, the divergence suppression term is accordingly updated in the divergence suppression direction, and the divergence suppression effect increases. When the temperature of the transmission system returns to room temperature from this state, the deviation between the transmission characteristics at the time of identification and the actual transmission characteristics becomes smaller. Therefore, if the divergence suppression control is performed based on the divergence suppression term as it is, the divergence suppression effect Tends to be excessive. However, if a temperature range that can be regarded as normal temperature is set as the reference temperature, when the temperature of the transmission system changes from a state different from the reference temperature to the reference temperature, the divergence suppression term is suppressed by the reset means. Since the value is changed to the value in the direction opposite to the direction, the divergence suppressing action is suppressed from becoming excessive, and the control performance of the noise and vibration reduction control is suppressed from deteriorating.

According to a third aspect of the present invention, in the active noise and vibration control apparatus according to the first or second aspect of the present invention, the environmental temperature is lower than a preset low temperature threshold. When the temperature becomes equal to or higher than the low-temperature side threshold, the divergence suppression term is changed to a value opposite to the divergence suppression direction. Therefore, for example, if the lower limit temperature of the temperature range that can be regarded as the reference temperature is set as the low temperature threshold, the divergence suppression term is changed based on the low temperature threshold, so that accurate timing Changes the divergence suppression term.

According to a fourth aspect of the present invention, in the active noise and vibration control apparatus according to any one of the first to third aspects, the environmental temperature is higher than a preset high temperature side threshold. When the temperature becomes lower than the high temperature threshold value from the high state, the divergence suppression term is changed to a value opposite to the divergence suppression direction. Therefore, for example, if the upper limit temperature of the temperature range that can be regarded as the reference temperature is set as the high temperature side threshold value, the divergence suppression term is changed based on this high temperature side threshold value, so that accurate timing Changes the divergence suppression term.

Further, in the invention according to claim 5, the divergence suppression corresponding divergence suppression term that changes in the divergence suppression direction when the control divergence is detected is set by the divergence corresponding divergence suppression term setting means. The divergence suppression term setting unit sets a temperature-dependent divergence suppression term based on the temperature detected by the temperature detection unit, and any one of the divergence suppression terms having a larger divergence suppression tendency is set as the divergence suppression term. At this time, the divergence-corresponding divergence suppression term set by the divergence-corresponding divergence suppression term setting means is different from the preset reference temperature in which the environmental temperature of the sound or vibration transmission system is based on the temperature detected by the temperature detection means. When the state shifts to the reference temperature, the direction is changed by the reset means in the direction opposite to the divergence suppressing direction. Accordingly, the temperature-dependent divergence suppression term setting means is capable of coping with the divergence of the control predicted to be caused by the temperature change of the transmission system, and the divergence corresponding to the divergence state of the control. Since the divergence suppression term is set according to the suppression term, a decrease in control performance due to a change in the environmental temperature of the transmission system is more reliably suppressed.

Further, in the invention according to claim 6, when the environmental temperature of the transmission system before starting the engine detected by the temperature detecting means is smaller than a preset threshold value, the engine is started by the elapsed time measuring means. Is measured, and when the elapsed time exceeds a preset warm-up time, the divergence suppression term is changed by the reset means in the direction opposite to the divergence suppression direction. Here, when the engine is started, the heat radiation causes the environmental temperature of the transmission system to rise, and this rising condition can be estimated from the elapsed time since the engine was started. The current environmental temperature can be predicted from the elapsed time later. That is, the temperature detecting means and the elapsed time measuring means and the temperature detecting means in the above-described claims 1 to 5 operate almost equally, and when the elapsed time by the elapsed time measuring means exceeds the warm-up time. The divergence suppression term can be changed at an appropriate timing even when the divergence suppression term is reset at a later time.

[0019]

According to the active noise and vibration control apparatus of the present invention, when the environmental temperature of the transmission system changes from a state different from the reference temperature to the reference temperature, the divergence suppression term is changed. The direction of divergence suppression is changed in the opposite direction, so that the divergence suppression action by the divergence suppression term does not tend to be excessive according to changes in the temperature environment of the transmission system, and good noise and vibration reduction control is executed. can do.

According to the active noise and vibration control apparatus of the third aspect of the present invention, when the environmental temperature rises from a state lower than the low temperature threshold to a temperature higher than the low temperature threshold, divergence is suppressed. Since the term is changed in the direction opposite to the divergence suppression tendency, the divergence suppression term can be changed at an appropriate timing.

According to the active noise and vibration control apparatus of the fourth aspect of the present invention, the divergence is suppressed when the environmental temperature falls from a state higher than the high temperature side threshold to a temperature lower than the low temperature side threshold. Since the term is changed in the direction opposite to the divergence suppression tendency, the divergence suppression term can be changed at an appropriate timing.

According to the active noise and vibration control apparatus according to the fifth aspect of the present invention, the divergence suppression corresponding divergence suppression term is set by the divergence correspondence divergence suppression term setting means according to the divergence state of the control, and transmitted. When the environmental temperature of the system shifts from the state different from the reference temperature to the reference temperature, this is changed to the direction opposite to the divergence suppression direction, and detected by the temperature detection means by the temperature-dependent divergence suppression term setting means. The temperature-dependent divergence suppression term is set based on the temperature, and the one with the larger divergence suppression tendency is set as the divergence suppression term. A divergence suppression term can be set, and a decrease in control performance due to a change in the environmental temperature of the transmission system can be suppressed more reliably.

Further, according to the active vibration control device for a vehicle according to the sixth aspect of the present invention, when the environmental temperature of the transmission system before the start of the engine is smaller than the threshold value, the elapsed time since the start of the engine is started. When the elapsed time exceeds a preset warm-up time, the divergence suppression term is changed in the direction opposite to the divergence suppression direction by the reset means. The environmental temperature can be estimated, and the divergence suppression term can be changed at an accurate timing.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic side view of a vehicle showing a first embodiment of an active vibration control device according to the present invention.

First, the structure will be described. An engine 17 mounted horizontally is supported by a vehicle body 18 composed of a suspension member and the like via an active engine mount 20 disposed rearward in the vehicle longitudinal direction. . In addition,
Actually, a plurality of engine mounts that generate a passive supporting force according to the relative displacement between the engine 17 and the vehicle body 18 are interposed between the engine 17 and the vehicle body 18 in addition to the active engine mount 20. . As a passive engine mount, for example, a normal engine mount that supports a load with a rubber-like elastic body, or a known fluid-filled mount in which a fluid is sealed inside a rubber-like elastic body so that a damping force can be generated. An insulator or the like can be applied.

FIG. 2 is a plan view showing the upper structure of the active engine mount 20 connected to the engine 17 via a bracket (not shown) fixed to the engine 17. The two projecting connection bolts 30a are inserted from below into the insertion holes of the bracket described above, and nuts are screwed into the engine 17 so that the engine 17 is rotated.
Is fixed at the upper end. Reference numeral 60 denotes a rebound restricting member. The rebound restricting member 60 extends perpendicularly to a line connecting the two connecting bolts 30a and extends above the engine-side connecting member 30 in an arch shape. It is fixed to the case 43 and is located above the rebound stopper 31 made of a rubber elastic body fixed to the upper surface of the engine side connecting member 30.

FIG. 3 shows the internal structure of the active engine mount 20 shown in a sectional view taken in the direction of the arrow in FIG.
Of the A-A arrow sectional along a line connecting the two connecting bolts 30a, the axis of FIG. 3 (hereinafter, referred to as the mounting shaft) P ₁
Are shown on the right side as boundaries, and the two connecting bolts 30 of FIG.
The direction taken along line B-B cross sectional view perpendicular to the line connecting the a, are shown to the right of the mounting shaft P ₁ in FIG. 3 as the boundary.

The active type engine mount 20 includes a device
Case 43 includes outer tube 34, intermediate tube 36, and orifice component
Mounting components such as the material 37 and the support elastic body 32
At the lower part of these mounting parts, a part of the partition of the fluid chamber 84
The movable member 78 elastically supported while being formed is moved to the fluid chamber 84.
Electromagnetic actuator that displaces in the direction in which the volume of
52 and a load for detecting a vibration state of a body member (not shown).
This is a device that incorporates the weight sensor 64 and is described in more detail.
As will be described, the engine-side connecting member 30 described above
The end peripheral portion 30g is formed with roundness
And the mounting axis P ₁The first hole 30c is formed at a position along
Have been. Also, the engine connecting member 30 is attached to the engine from below.
The connection bolt 30a that is fitted and facing upward is
The head 30d protrudes from the lower surface of the engine side connecting member 30.
ing. Here, the outer peripheral edge of the head 30d is rounded.
It is attached and formed.

A hollow cylindrical body 30b having an inverted trapezoidal cross section is fixed to the lower surface of the engine side connecting member 30.
This hollow cylinder 30b, together with the second hole 30e at a position close to the connecting bolts 30a are formed, the third hole 30f is formed on the lower surface along the mounting axis P _1.
No hole is formed in the hollow cylinder 30b at a position separated from the connection bolt 30a.

A rubber support elastic body 32 is provided on the lower surface of the engine-side connecting member 30 so as to cover the inside of the hollow cylinder 30b and the lower side of the engine-side connecting member 30.
Are fixed by vulcanization adhesion.

That is, the support elastic body 32 is a rubber elastic body whose diameter is increased downward from the engine-side connecting member 30 side, and has a hollow section 32 having a mountain-shaped cross section on its inner surface.
a, but the outer peripheral surface of the support elastic body 32 at a portion apart from the connecting bolt 30a is formed on the rebound stopper 31 while covering the outer peripheral portion of the engine side connecting member 30 as shown on the left side of FIG. It is continuous. On the other hand, as shown in the right side of FIG. 3, the support elastic body 32 which is close to the connection bolt 30a has a covering portion 32b which covers the entire area of the head 30d of the connection bolt 30a, and the head 30
The outer periphery at a position below d is formed to be largely concave inward (hereinafter, referred to as a concave outer peripheral portion indicated by reference numeral 32c).
The inner surface of the support elastic body 32 facing the concave outer peripheral portion 32c while forming the above-described cavity portion 32a is also
It has a shape that swells greatly inside (hereinafter, reference numeral 32).
d). The thickness of the support elastic body 32 in the portion close to the connection bolt 30a is
By providing the bulging inner peripheral portion 32d opposed to the concave outer peripheral portion 32c, the thickness is set to be substantially the same as the thickness of the portion remote from the connecting bolt 30a.

[0032] Then, the lower end portion of the resilient support member 32 which is a thin shape, the inner peripheral surface of the intermediate cylinder member 36 which mounts shaft P ₁ is oriented vibrator support direction to the hollow cylinder 30b coaxially by vulcanization bonding bond are doing.

The intermediate cylinder 36 is a member in which a small-diameter cylinder 36c is continuously formed between an upper cylinder 36a and a lower cylinder 36b having the same outer diameter, and has an annular recess on the outer periphery. Although not shown, an opening is formed in the small-diameter cylindrical portion 36c, and the inside and the outside of the intermediate cylindrical body 36 communicate with each other through this opening.

An outer cylinder 34 is fitted on the outer side of the intermediate cylinder 36, and the outer cylinder 34 has the same inner diameter as the outer diameter of the upper cylinder 36a and the lower cylinder 36b of the intermediate cylinder 36. age,
It is a cylindrical member whose axial length is set to the same size as the intermediate cylinder 36. An opening 34a is formed in the outer cylinder 34, and an outer periphery of a diaphragm 42 made of a rubber thin film elastic body is coupled to an opening edge of the opening 34a so as to close the opening 34a. It bulges toward the inside of the outer cylinder 34.

When the outer cylinder 34 having the above structure is fitted around the intermediate cylinder 36 so as to surround the annular recess, an annular space is defined in the circumferential direction between the outer cylinder 34 and the intermediate cylinder 36, and the annular space is formed. The diaphragm 42 is disposed in the space in a swelled state. A tubular orifice component member 37 is fitted inside the intermediate tubular body 36.

The orifice constituting member 37 has a minimum diameter cylindrical portion 3 formed to have a smaller diameter than the small diameter cylindrical portion 36c of the intermediate cylindrical body 36.
An upper annular portion 37b and a lower annular portion 37c are formed radially outward at upper and lower ends of the minimum diameter cylindrical portion 37a, and the minimum diameter cylindrical portion 37a, the upper and lower annular portions 37b are formed. , 37c and an intermediate space between the intermediate cylinder 36. In addition, the minimum diameter cylindrical portion 3
A second opening 37d is formed in a part of 7a. Here, the upper annular portion 37b is located below the support elastic body 32, but as shown on the right side of FIG.
upper annular portion 37b ₁ which is located below the resilient support member 32 in proximity to a is provided with a recess to form a thin wall thickness, a position away from the bulge in the peripheral portion 32d of the elastic support member 32 Facing each other.

The device case 43 has an upper end caulking portion 43a having a circular opening smaller than the outer diameter of the upper end cylindrical portion 36a at the upper end thereof, and a case body continuous with the upper end caulking portion 43a. Is a cylindrical shape (the lower end opening is indicated by a broken line in FIG. 3) having the same inner diameter as the outer diameter of the outer cylinder 34 and is continuous to the lower end opening. By caulking the lower end opening portion inward in the radial direction after the completion of assembling, the caulked portion shown by the solid line in FIG. 3 is formed.

The supporting elastic body 32, the intermediate cylinder 36,
The outer cylinder 34 in which the orifice constituting member 37 and the diaphragm 42 are integrated is fitted into the inside of the apparatus case 43 from the lower end opening thereof, and the outer cylinder 34 is attached to the lower surface of the upper end caulking part 43a.
When the upper ends of the intermediate cylinders 36 are brought into contact with each other, they are arranged at the upper part in the device case 43. At this time, an air chamber 42c is defined in a portion surrounded by the inner peripheral surface of the device case 43 and the diaphragm 42, and an air hole 43a is formed at a position facing the air chamber 42c. 43
The air chamber 42c communicates with the atmosphere via a.

A cylindrical spacer 70 is fitted in a lower portion of the device case 43, and a movable member 78 is disposed in an upper portion of the spacer 70, and an electromagnetic actuator 52 is disposed in a lower portion of the spacer 70. Have been. The spacer 70 includes a cylindrical upper cylindrical body 70a,
It is composed of a cylindrical lower cylinder 70b and a substantially cylindrical diaphragm 70c made of a rubber thin film elastic body that is vulcanized and bonded between upper and lower ends of these cylinders.

The electromagnetic actuator 52 has a cylindrical yoke 52a, an annular exciting coil 52b disposed on the upper end side of the yoke 52a, and a magnetic pole fixed vertically to the center of the upper surface of the yoke 52a. Permanent magnet 52c
It is composed of The yoke 52a has an annular first yoke member 53a and a permanent magnet 5 in a central cylindrical portion.
2c is fixed to the second yoke member 53b.

The upper and lower cylinders 70a, 70b
The intervening diaphragm 70c bulges toward a concave portion 52d formed on the outer periphery of the yoke 52a. In addition, a load sensor 64 is interposed between the lower surface of the yoke 52a and the lid member 62 having the vehicle body side connection bolts 60 in order to detect residual vibration required for vibration reduction control. As the load sensor 64, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied. As shown in FIG. 1, the detection result of this sensor is supplied to the controller 25 as a residual vibration signal e. I have. Further, a temperature sensor 26 formed of, for example, a thermocouple or the like is provided in the second yoke 53b so as to penetrate the device case 43 and be inserted into the second yoke 53b. , And the controller 25.

On the other hand, above the electromagnetic actuator 52, a seal ring 72 for fixing a seal member, a support ring 74 for supporting an outer peripheral portion of a leaf spring 82 to be described later from below at a free end, and a permanent Magnet 52c
And a gap holding ring 76 for setting a gap H between the movable members 78. The outer diameters of the seal ring 72, the support ring 74, and the gap holding ring 76 are set to the same dimensions as the inner diameter of the upper cylinder 70a of the spacer 70 described above, and the upper cylinder projecting upward from the yoke 52a. A seal ring 72 in the body 70a;
All of the support ring 74 and the gap retaining ring 76 are fitted inside. A movable member 78 is arranged inside the seal ring 72, the support ring 74, and the gap holding ring 76 so as to be vertically displaceable.

The movable member 78 is a member composed of a partition wall forming member 78A having a disk shape in appearance and a magnetic path forming member 78B formed in a disk shape larger in diameter than the partition wall forming member 78A. A bolt hole 80a is formed in the axial center of the partition wall forming member 78A located farther from the electromagnetic actuator 52, and a magnetic path forming member 78B close to the electromagnetic actuator 52 is formed.
The partition wall forming member 78A and the magnetic path forming member 78B are integrally connected by screwing a movable member bolt 80 that passes through the bolt hole 80a into the bolt hole 80a.

Partition wall forming member 78A and magnetic path forming member 78
A ring-shaped continuous constriction 79 is defined between B, and a plate spring 82 for elastically supporting the movable member 78 is accommodated in the constriction 79. That is, the leaf spring 82 is a disk-shaped member having a hole formed in the center, and the free end of the inner periphery of the leaf spring 82 is supported from below the rear center of the partition wall forming member 78A. 82 is supported at its free end from below by a spring support portion 74a of a support ring 74, whereby the movable member 78 is
3 is elastically supported via a leaf spring 82.

The partition forming member 78A is formed by reducing the thickness of the partition 80c facing the fluid chamber 84,
A member formed with an annular rib 80b protruding upward from the outer periphery of the member. A fluid chamber 84 is formed by the upper surface of the partition wall forming member 78A, the lower surface of the support elastic body 32, and the inner peripheral surface of the orifice constituting member 37, and the fluid is sealed in the fluid chamber 84.

Further, in order to prevent leakage of the fluid from the fluid chamber 84 to the constricted portion 79 containing the leaf spring 82,
A ring-shaped seal member 86 made of a rubber-like elastic body is fixed between the outer periphery of the partition wall forming member 78A and the inner periphery of the seal ring 72. The elastic deformation of the seal member 86 causes the seal ring 72, The relative displacement of the movable member 78 in the vertical direction with respect to the device case 43 is allowed.

Next, the vibration input damping action of the active engine mount 20 of the present embodiment will be briefly described. In the active engine mount 20 of the present embodiment, the hollow portion 32a of the support elastic body 32 communicates with the axial center space of the orifice member 37, and the axial center space of the orifice member 37 and the orifice member 37 and the intermediate cylindrical body. 36, the annular space communicates through a second opening 37d, and the annular space and the space in which the diaphragm 42 bulges communicate through an opening formed in the intermediate cylinder 36. From the hollow portion 32a of the supporting elastic body 32,
A fluid such as oil is sealed in the communication path up to the space where the bulges.

If the communication passage from the hollow portion 32a of the support elastic body 32 to the annular space between the orifice constituting member 37 and the intermediate cylinder 36 is the main fluid chamber 84, the intermediate cylinder 3
A fluid resonance system is formed in which the vicinity of the opening formed in 6 is an orifice, and the region surrounded by the diaphragm 42 facing the opening is a sub-fluid chamber. The characteristics of this fluid resonance system, that is, the mass of the fluid in the orifice,
The characteristic determined by the expansion direction spring of the support elastic body 32 and the expansion direction spring of the diaphragm 42 is that when the engine vibration is generated while the vehicle is stopped, that is, when the engine mount 20 is at 20 to 30 Hz.
A and 20B are adjusted so as to exhibit a high dynamic spring constant and a high damping force when vibrated.

On the other hand, the exciting coil 52b of the electromagnetic actuator 52 generates a predetermined electromagnetic force according to a drive signal y which is a current supplied from the controller 25 through, for example, a harness. Controller 25
Is a microcomputer, necessary interface circuit, A / D converter, D / A converter, amplifier, ROM, R
A drive signal y for the active engine mount 20 is generated such that an active support force that is configured to include a storage medium such as an AM or the like and reduces vibration generated in the engine 17 is generated in the active engine mount 20. Output.

As described above, the load sensor 64 is built in the active engine mount 20 and
8 is detected in the form of a load and output as a residual vibration signal e, and the residual vibration signal e is used as a signal representing the vibration after the interference by the controller 2 through, for example, a harness.
5.

Here, for example, in the case of a reciprocating four-cylinder engine, the engine vibration of the engine rotation secondary component is generated by
The main reason is that the vibration is transmitted to the engine 8 and, if the drive signal y is generated and output in synchronization with the secondary component of the engine rotation, the vibration on the vehicle body side can be reduced. Therefore, in the present embodiment, an impulse signal synchronized with the rotation of the crankshaft of the engine 17 (for example, in the case of a reciprocating four-cylinder engine, one for every 180 ° rotation of the crankshaft) is generated, and the reference signal x Pulse signal generator 19 which outputs as
Is provided, and the reference signal x is supplied to the controller 25.

Then, based on the supplied residual vibration signal e and reference signal x, the controller 25 performs a synchronous Filtered-X LMS which is one of adaptive algorithms.
By executing the algorithm, a drive signal y for the active engine mount 20 is calculated, and the drive signal y is output to the active engine mount 20.

More specifically, the controller 25 has an adaptive digital filter W having a variable filter coefficient W _i (i = 0, 1, 2,..., I-1: I is the number of taps).
The filter coefficient W _i of the adaptive digital filter W is sequentially output as the drive signal y at a predetermined sampling clock interval from the time when the latest reference signal x is input, while the reference signal x and the residual vibration signal e are output. A process for appropriately updating the filter coefficient W _i of the adaptive digital filter W based on this is executed.

However, in this embodiment, the synchronous Fi
The following equation (1) is used as an evaluation function in the iterated-X LMS algorithm. Jm = {e (n)} ² + β {y (n)} ² (1) That is, in the LMS algorithm, the evaluation function Jm
Since the filter coefficient W _i is updated in a direction in which is smaller, the filter coefficient W _i becomes smaller as the square value of the residual vibration signal e becomes smaller, as is clear from the content of the right side of the above equation (1). , The value obtained by multiplying the square value of the drive signal y by β becomes smaller. Β is a coefficient called a divergence suppression coefficient. As the divergence suppression coefficient β increases, the drive signal y tends to decrease. That is, the divergence suppression coefficient β has an effect of suppressing the divergence of the control.

[0055] Then, the convergence coefficient is alpha, the Request update equation of the filter coefficients W _i on the basis of the evaluation function Jm represented by the above equation (1) becomes as the following equation (2). _{W i (n + 1) =} W i (n) + 2αR T e (n) -2βαy (n) ...... (2) Therefore, this (2) a new convergence factor to "2α" in the formula α
And then, if the a new divergence suppression factor β "2βα" update equation of the filter coefficients W _i of the adaptive digital filter W is as the following equation (3).

[0056] _{W i (n + 1) =} W i (n) + αR T e (n) -βy (n) ...... (3) here, (n), terms that stick is (n + 1), the sampling time n, n + 1 ,, And.
The update reference signal R ^T is theoretically the reference signal x
Is a value obtained by performing a filtering process using a transfer function filter C ＾ that models a transfer function C between the electromagnetic actuator 52 and the load sensor 64 of the active engine mount 20. The magnitude of the reference signal x is “1”. Therefore, when the impulse responses of the transfer function filter C # are successively generated in synchronization with the reference signal x, the impulse responses coincide with the sum of the impulse response waveforms at the sampling time n.

In theory, the reference signal x is filtered by the adaptive digital filter W to generate the drive signal y. However, since the magnitude of the reference signal x is "1", the filter coefficient W _{Even if i} is sequentially output as the drive signal y, the result is the same as when the result of the filter processing is set as the drive signal y.

[0058] Then, the controller 25 while performing the vibration reduction processing comprising a process of updating the filter coefficient W _i of the output processing and the adaptive digital filter W of the drive signal y as described above, to suppress the divergence of the control Is executed. The divergence suppression processing, in this embodiment the absolute value of the filter coefficient W _i of the adaptive digital filter W, the divergence in the case where a judgment value that is calculated on the basis of the absolute value exceeds a predetermined threshold Is determined to have occurred, and if it is determined that divergence has occurred, the divergence suppression coefficient β _k is updated in a direction to increase. Specifically, a plurality of K divergence suppression coefficients β _k are provided corresponding to the suffix k (k = 1, 2,..., K), and the divergence increases as the suffix k increases. The suppression coefficient β _k increases step by step. Therefore, when divergence is detected, the subscript k
Is incremented (k = k + 1; however, when k = K, the value is not incremented as it is), and
The divergence suppression coefficient β _k is updated to a value larger by one step.

Further, the controller 25 executes the vibration reduction processing and the divergence suppression processing, and also executes the divergence suppression coefficient reset processing. This divergence suppression coefficient reset processing is performed when the temperature detection value t from the temperature sensor 26 rises above the preset low temperature threshold value t _L , or when the temperature t exceeds the preset high temperature threshold value t _H. When the divergence suppression coefficient β _k decreases, the initial value β _k
(K = 1).

Next, the operation of the first embodiment of the present invention will be described. That is, as a result of adjusting the resonance frequency of the fluid resonance system in the active engine mount 20 to 20 Hz, a certain amount of damping force is generated even when the engine shake, which is a vibration of 5 to 15 Hz, occurs.
0, the engine shake generated on the engine 17 side is attenuated to some extent by the active engine mount 20, and the engine shake is also attenuated by another fluid-filled engine mount or the like (not shown). Vibration level is reduced. It is not necessary to positively displace the magnetic path forming member 78B for the engine shake.

On the other hand, when a vibration having a frequency equal to or higher than the idle vibration frequency is input, the controller 25 executes a predetermined calculation process, outputs a drive signal y to the electromagnetic actuator 52, and outputs the drive signal y to the active engine mount 20. Generate an active support force that can reduce vibration.

This will be described in detail with reference to FIG. 4 which is a flowchart showing the outline of the processing executed in the controller 25 when idle vibration and muffled sound vibration are input. First, after a predetermined initial setting is performed in step 101, the process proceeds to step 102, in which a transfer function filter C set in advance according to the vibration transfer characteristic between the active engine mount 20 and the load sensor 64 is set. Based on ＾, an updating reference signal ^RT is calculated. In this step 102, the update reference signal ^RT for one cycle is calculated collectively.

[0063] Then, the process proceeds to step 103, counter i is after being zero cleared, the process proceeds to step 104, i th filter coefficient W _i of the adaptive digital filter W is outputted as the drive signal y.

After outputting the drive signal y in step 104, the process proceeds to step 105, where the residual vibration signal e is read. Then, the process proceeds to step 106, counter j is zero cleared, then the process proceeds to step 107, j-th filter coefficient W _j of the adaptive digital filter W is updated according to equation (3) above.

When the updating process in step 107 is completed, the process proceeds to step 108, where it is determined whether or not the next reference signal x has been input. If it is determined that the reference signal x has not been input, Moves to step 109 in order to update the next filter coefficient of the adaptive digital filter W or output the drive signal y.

In step 109, it is determined whether or not the counter j has reached the number of outputs T _y (more precisely, since the counter j starts from 0, the value obtained by subtracting 1 from the number of outputs T _y ). This determination, the filter coefficient W _i of the adaptive digital filter W in step 104, after outputting the drive signal y, the filter coefficient W _i of the adaptive digital filter W, whether to update the necessary number as the drive signal y Is to judge. Therefore, if the determination in step 109 is “NO”, step 11
After incrementing the counter j by 0, step 1
Returning to step 07, the above processing is repeatedly executed.

However, the determination in step 109 is "YE
In the case of "S", it can be determined that the update processing of the necessary number of filter coefficients as the drive signal y among the filter coefficients of the adaptive digital filter W has been completed.
After shifting to 1 and incrementing the counter i, it waits for a predetermined time. This predetermined time is determined in step 104 above.
Is performed until the time corresponding to the predetermined sampling clock interval elapses from the execution of the processing of FIG. Then, when the time corresponding to the sampling clock has elapsed, the process returns to step 104 to repeatedly execute the above-described processing.

On the other hand, if it is determined in step 108 that the reference signal x has been input, the flow shifts to step 112 to add 1 to the counter i (exactly, since the counter i starts from 0). _Is stored as the latest output count Ty, and the process returns to step 102 to repeatedly execute the above-described processing.

As a result of repeatedly executing the processing of FIG. 4, the active engine mount 2
The filter coefficient W _i of the adaptive digital filter W is sequentially supplied as a drive signal y to the electromagnetic actuator 52 of 0 at the sampling clock interval from the time when the reference signal x is input.

As a result, the drive signal y is supplied to the exciting coil 52b.
Is generated, but the magnetic path forming member 78B includes:
Since a constant magnetic force has already been applied by the permanent magnet 52c, the magnetic force of the exciting coil 52b is
It can be considered that this acts to increase or decrease the magnetic force of 2c. As described above, when the magnetic force of the permanent magnet 52c is increased or decreased, the movable member 78 is displaced in both the forward and reverse directions. When the movable member 78 is displaced, the volume of the main fluid chamber 84 is changed, and the volume of the main fluid chamber 84 is changed. Since the expansion spring of the elastic body 32 is deformed, active support forces in both forward and reverse directions are generated in the active engine mount 20.

Then, each filter coefficient W _i of the adaptive digital filter W serving as the drive signal y is determined by a synchronous filter
Since the sequentially updated by according to the red-X LMS algorithm described above (1), after the convergence to the optimal values each filter coefficient W _i of the adaptive digital filter W has passed a certain time, the drive signal y is By being supplied to the active engine mount 20, the vehicle body 18 is supplied from the engine 17 via the active engine mount 20.
The idle vibration and the muffled sound vibration transmitted to the side are reduced.

On the other hand, in the controller 25, the divergence suppression process shown in FIG. 5 and the divergence suppression coefficient reset process shown in FIG. 6 are executed at a predetermined interruption timing during the execution of the vibration reduction process shown in FIG. . That is, the processes shown in FIGS. 4 to 6 are executed substantially in parallel by the time sharing method.

That is, when the processing shown in FIG. 5 is executed at a predetermined interruption interval, first, at step 121, the filter coefficients W _i of the adaptive digital filter W are set.
Based of the absolute value, it calculates a determination value W _H for divergence determination. The determination value W _H, for example may be used as the maximum value of the absolute value of the filter coefficient W _i, or may be a sum of a predetermined number of the absolute value of the filter coefficient W _i.

Next, the routine proceeds to step 122, where it is determined whether or not the determination value _WH is larger than a predetermined threshold value _Wth . This threshold value W _th is a threshold value for determining whether or not the determination value W _H is excessive. When the determination in step 122 is “NO”, the determination value W _H
Is not excessively large, and therefore, it can be determined that the filter coefficient W _i, which is the basis of the calculation, falls within a normal range that can be taken during execution of appropriate vibration reduction control. Therefore, it is determined that no divergence tendency is found in the control, and the divergence suppression process of this time is ended as it is.

However, the determination in step 122 is "YE
In the case of S ", the determination value W _H is excessively large, the filter coefficient W _i is the calculation basis can be determined that led to a large value which can not be taken during an appropriate vibration reduction control execution . Therefore, it is determined that the vibration reduction control has a tendency to diverge, and the routine proceeds to step 123, where the suffix k is incremented, and then the divergence detection processing ends. When the process proceeds to step 123, the subscript k is already the maximum value K.
In the case of, the divergence suppression processing is terminated without incrementing k.

In this divergence suppressing process, step 123 is executed.
Is executed, the divergence suppression coefficient β _k is updated in the increasing direction (divergence suppression direction). Therefore, the third term on the right side of the above equation (3) is larger than before the divergence suppression coefficient β _k is updated. Become. Then, the filter coefficient W _i, since the tendency to approach the origin (= 0) when the updating calculation is increased, the filter coefficient W _i was in increasing tendency with the divergence of the control is reduced, the drive signal y with it And the control vibration generated in the active engine mount 20 is reduced.

Updating of the divergence suppression coefficient β _k in the divergence suppression process in the increasing direction is repeatedly performed as long as the determination in step 122 is “YES”. Therefore, until the divergence is effectively suppressed. The divergence suppression coefficient β _k
Will increase.

[0078] On the other hand, at a predetermined interrupt interval, diverging suppression coefficient reset processing shown in FIG. 6 is executed, first, the initial state F _L = 0 the low temperature flag F _L and the high temperature flag F _H in step 131, F _H = 0 Set to. Next, step 13
In step 2, the detected temperature value t from the temperature sensor 26 is read, and in step 133, it is determined whether the detected temperature value t is lower than a preset low temperature threshold value t _L (for example, −5 to −10 ° C.). Then, when the temperature detection value t <t _L is the low temperature flag F _L proceeds to step 135 after setting the F _L = 1 and proceeds to step 134, the temperature detection value t ≧ t
_If it is _L , the process directly proceeds to step 135.

At step 135, the detected temperature value t from the temperature sensor 26 is read, and then the routine proceeds to step 136, where the low-temperature flag F _L = 1 and the detected temperature value t ≧
It is determined whether it is t _L. Then, _FL = 1 and t≥t
When it is _L, the process proceeds to step 137, sets the subscript k of divergence suppression factor beta _k to k = 1, and resets the low temperature flag F _L to F _L = 0. And step 13
Move to 8. On the other hand, when at step 136 is not a F _L = 1 and t ≧ t _L, the process moves to step 138.

In step 138, it is determined whether or not the detected temperature value t is higher than the high temperature threshold value t _H (for example, 70 to 80 ° C.). If the detected temperature value t> t _H , the routine proceeds to step 139, where the high temperature flag F _H
Is set to F _H = 1, and the process returns to step 135. On the other hand, if t ≦ t _H in step 138, the process proceeds to step 140 to determine whether or not the high temperature flag F _H is F _H = 1, and if F _H = 1, step 14 is performed.
Then, the subscript _k of the divergence suppression coefficient β _k is set to k = 1, the high temperature flag F _H is reset to F _H = 0, and the process returns to step 135. On the other hand, the process returns to step 135 when the high temperature flag F _H is not F = 1 in step 140. Thereafter, the processing from step 135 to step 141 is executed at a predetermined interruption cycle.

In this divergence suppression coefficient reset processing,
When step 137 or step 141 is executed, the divergence suppression coefficient β _k is updated in a decreasing direction (a direction opposite to the divergence suppression direction). That is, when the detected temperature t is changed from lower than the low temperature threshold t _L and a low temperature threshold t _L or more, or, a high temperature detected temperature value t from the state higher than the high temperature threshold t _H When the divergence suppression coefficient β _k becomes equal to or smaller than the threshold value t _H , the divergence suppression coefficient β _k
(K = 1).

FIG. 7 shows a change in the environmental temperature of the vibration transmission system when the engine is started in an environment where the temperature environment of the vibration transmission system is lower than normal temperature, for example, in the early morning of winter (FIG. 7 (a)).
FIG. 8 is a diagram showing a correspondence between the change of the divergence suppression coefficient β _{k and} the change (FIG. 7B).

If the transfer function C is identified at normal temperature, the temperature at the time of identification of the vibration transfer system is different from the current temperature environment in the early morning of winter or the like, so that the transfer function C is shifted, which is different from the actual one. vibration reduction control for vibration reduction control is performed based on the transfer function C becomes divergent, thereby the filter coefficient W _i increases gradually.

Then, as a result of executing the divergence suppressing process of FIG. 5, divergence is detected based on the filter coefficient W _i, and the determination in step 122 becomes “YES”, and step 12
3, the divergence suppression coefficient β _k is updated in the increasing direction. However, if the divergence is not suppressed by a single update, the processing of step 123 is repeatedly executed, and the divergence suppression coefficient β _k is successively increased. Be updated. And the divergence suppression coefficient β
_By updating _k in the divergence suppression direction, for example, the time t
_{If the} divergence is suppressed at ₂ , the updating of the divergence suppression coefficient β _{k in} the increasing direction is stopped.

Here, the environmental temperature of the vibration transmission system is calculated at time t
_{When the} engine is started in step ₁ , the temperature gradually rises due to the heat generated by the engine and reaches the room temperature range. Along with this,
The deviation of the transfer function C of the vibration transmission system also gradually decreases. At this time, when the detected temperature value t exceeds the low temperature threshold value t _L at the time point t ₃ , the divergence suppression coefficient β is reset to the initial value of the divergence suppression coefficient β by the divergence suppression coefficient reset process of FIG. Therefore, at time t ₃ , the environmental temperature of the vibration transmission system exceeds the low temperature threshold value t _L and reaches the normal temperature range, and the cause of the shift of the transfer function C has been eliminated. At this time, the divergence suppression coefficient β By resetting to the initial value
When the cause of the divergence is eliminated, the divergence suppression coefficient β returns to the original state. Therefore, the divergence suppression coefficient β corresponding to the actual transfer function of the vibration transmission system is set, and the convergence to the optimum value for reducing the vibration generated in the engine 30 is improved, and the vibration reduction control is performed. The effect of the method is good.

On the other hand, in the conventional method, the divergence suppression coefficient β is updated only in the divergence suppression direction in accordance with the divergence of the control. Therefore, as described above, the vehicle is driven early in the winter in the morning. in this case, the divergence reduction coefficient β gradually increases, whereupon divergence at time t ₂ is suppressed, updates to the direction of increasing divergence suppression factor β at this time stops. However, since the divergence suppression factor β is kept in this state as indicated by a chain line in FIG. 7 (b), the temperature environment of the vibration transmission system in time t ₃ becomes equal to the temperature environment at the time of identifying the transfer function C
Is small, the control is stable even if the value of the divergence suppression coefficient β is small, but the divergence suppression coefficient β has a high value of the divergence suppression effect, and as a result, the generated vibration tends to be small. As a result, the vibration reduction effect is reduced.

However, in the above embodiment, when the temperature exceeds the low temperature threshold value t _L , the divergence suppression coefficient β is reset to the initial value, so that a reduction in the vibration reduction effect can be avoided. .

Similarly, for example, after climbing an uphill,
In the case of running on a road, etc., as shown in FIG.
t₁₁When you start climbing a hill, the vibration transmission system environment
The temperature rises, causing a shift in the transfer function C
To prevent divergence caused by this shift.
The divergence suppression coefficient β is updated in the divergence suppression direction, and divergence is suppressed.
The update in the increasing direction stops when it is completed. And flat
Road running and time t ₁₂And the ambient temperature gradually decreases,
Finally time t₁₃And the high temperature threshold t_HIf it is less than
The coefficient β is reset to the initial value. This high temperature threshold t
_HTime t₁₃The vibration transmission system is the temperature ring at the time of identification.
Temperature, which is almost equal to the
Divergence suppression coefficient β
Reset to the actual value of the vibration transmission system.
Vibration reduction control is executed based on transfer function equivalent to transfer function
To achieve a good vibration reduction effect.
it can. On the other hand, in the conventional method, FIG.
As shown by the dotted line, the divergence suppression coefficient β
Is maintained at a high value, which reduces the vibration reduction effect.
U.

Therefore, it is possible to minimize the decrease in the vibration reduction effect due to the increase in the divergence suppression coefficient β due to the change in the temperature environment, and it is possible to minimize the level of engine vibration felt by the occupant.

Next, a second embodiment of the present invention will be described. In the second embodiment, in the divergence suppression processing in the first embodiment, the divergence suppression coefficient β is updated according to the divergence state of the control, and the divergence suppression is performed according to the temperature change of the vibration transmission system. The coefficient β is updated. Except for the difference in the processing procedure of the divergence suppression processing, it is the same as the above-described first embodiment, and the overall configuration and the processing content of the vibration reduction processing are the same. .

In the second embodiment, a divergence suppression process shown in FIG. 9 is executed instead of the divergence suppression process of FIG. That is, when the processing shown in FIG. 9 is executed at a predetermined interruption interval, the controller 2
In step 5, first, in the process of step 201, the temperature at the time of identification t ^* when the transfer function filter C # is identified, which is stored in a predetermined storage area in advance, is read. Then step 2
02, the temperature detection value t from the temperature sensor 26 is read.

Next, the routine proceeds to step 203, where the difference Δt between the temperature at the time of identification t ^* and the detected temperature value t is Δt (Δt = t ^* −t).
Then, in step 204, the previously set FIG.
Detecting a divergence suppression coefficient corresponding to the temperature difference Δt from the control map shown in, this is set as a temperature corresponding divergent suppression factor beta _t. The control map is formed in a bathtub shape based on the identification temperature t ^* and the divergence suppression coefficient β (t ^* ) at the time of identification, as shown in FIG. 10, and the absolute value | Δt | of the temperature difference Δt.
Is smaller than Δt _X , the divergence suppression coefficient β is not updated as the divergence suppression coefficient β (t ^* ) at the time of identification. If the absolute value | Δt | of the temperature difference Δt is larger than Δt _X , the divergence at the time of identification is A value obtained by adding a correction proportional to the temperature difference | Δt | to the suppression coefficient β (t ^* ) is set as the divergence suppression coefficient β.

Therefore, the temperature detection value t is equal to the identification temperature t.
^* Or when the temperature difference | Δt | is equal to or less than Δt _X , even if a temperature change occurs in the vibration transmission system, the change in the transfer characteristic of the vibration transmission system due to the temperature change is regarded as small, and the divergence suppression coefficient The divergence suppression coefficient β (t ^* ) at the time of identification is set as the divergence suppression coefficient β without updating β. When the temperature difference | Δt | between the detected temperature value t and the temperature at the time of identification t ^* is larger than Δt _X , it is considered that the change in the transmission characteristics of the vibration transmission system is large due to the temperature change in the vibration transmission system. Divergence suppression coefficient β (t
^* ) Is added to the correction in proportion to the temperature difference | Δt | to set a value as the divergence suppression coefficient β.

Next, the process proceeds to step 206, where the divergence detecting process is executed in the same manner as in the first embodiment.
The absolute value of the filter coefficient W _i of the adaptive digital filter W is determined, and a divergence determination value W _H is determined based on the absolute value.
Is calculated.

Next, it is determined whether or not the determination value W _H calculated in step 206 is larger than a threshold value W _th , and W _H is determined.
If not> _Wth , it is determined that the vibration reduction control does not have a divergence tendency, and the routine proceeds directly to step 210, where _WH > W
If it is _th, it is determined that the vibration reduction control has a tendency to diverge, and the process proceeds to step 208, where the suffix k is incremented to update the divergence-corresponding divergence suppression coefficient β _k in a direction in which the divergence-corresponding divergence suppression coefficient β _k is increased. Move to

Then, in step 210, step 2
04 processing temperature corresponding divergence suppression factor beta _t detected by the, by comparing the _k beta current divergence corresponding divergence reduction coefficient, the larger one of these sets as divergent suppression factor beta,
The process ends.

At this time, the divergence suppression coefficient reset processing
Divergence suppression coefficient β _kChanges in environmental temperature
Is reset in response to Accordingly
The temperature-dependent divergence suppression coefficient β_tIs the temperature of the vibration transmission system and
Identification temperature t ^*Temperature difference | Δt |_XBecomes more
Divergence suppression coefficient β (t^*)
Is updated in the direction that increases (divergence suppression direction).
Divergence suppression coefficient β_kOf step 208
When the processing is executed, the divergence corresponding divergence suppression coefficient β_kIs increasing
Are updated in the direction (divergence suppression direction).
Divergent coefficient β_tAnd the divergence suppression coefficient β_kOf
Set the larger one as the divergence suppression coefficient β
Therefore, the control becomes unstable with the temperature change of the vibration transmission system.
It is possible to anticipate and deal with
Good control can avoid the tendency to diverge
It is possible to execute a simple vibration reduction control. Also, with this
The divergence suppression coefficient reset process
Divergence due to changes in the temperature environment
When the environment returns to its original state and the cause of divergence is resolved
Is the divergence suppression divergence coefficient β_kWill be reset
Therefore, an operation equivalent to that of the first embodiment can be obtained.
It is possible.

Note that in the second embodiment,
Has been described with the case of setting the temperature corresponding divergence suppression factor beta _t depending on the temperature difference Δt between the detected temperature t identified at temperature t ^*, not limited thereto, the each temperature beforehand by experiment or the like may be set the temperature corresponding divergence suppression factor beta _t to satisfy the transfer function of the time, it is also possible to detect the temperature corresponding divergence suppression factor beta _t corresponding to the temperature detection value t.

Also, in the second embodiment, FIG.
According to the control map of 0, the divergence suppression coefficient corresponding to the temperature is uniquely detected with respect to the temperature difference Δt.
You may make it set with a hysteresis.

In each of the above embodiments, the temperature sensor 26 is connected to the second yoke 53 of the electromagnetic actuator 52.
Although the description has been given of the case where the temperature is detected by inserting it into the position b, the present invention is not limited to this. For example, since the active engine mount 20 is susceptible to the temperature change, the support elastic body 32 and the like are formed of rubber or the like whose transfer function of vibration changes greatly with the temperature change. A temperature sensor may be provided on the elastic body 32 to detect the temperature of the support elastic body 32.

At this time, it is difficult to insert the temperature sensor into the support elastic body 32 because of the durability problem of the support elastic body 32. Therefore, a temperature sensor may be provided on the surface, for example. , Beforehand through experiments, etc.
The correlation between the temperature of the yoke 53b and the temperature of the support elastic body 32 is determined, and the temperature of the support elastic body 32 is predicted based on the correlation and the temperature detection value t of the second yoke 53b detected by the temperature sensor 26. Alternatively, the divergence suppression coefficient β may be set based on the predicted temperature.

The temperature of the working fluid in the main fluid chamber 84 or the temperature of the place where the main body of the active engine mount 20 is installed may be measured without being limited to the support elastic body 32.

Further, in each of the above embodiments, it is determined whether or not the temperature environment of the transmission system has increased beyond the low temperature threshold based on the temperature detection value t from the temperature sensor 26. Although the case has been described, the present invention is not limited to this. For example, a control map is formed by detecting in advance the correspondence between the elapsed time after starting the engine and the rise in the environmental temperature of the transmission system. A temperature detection value t from a temperature sensor (temperature detecting means) 26 before starting the engine, a measuring time of a timer (elapsed time measuring means) for measuring an elapsed time after starting the engine, and the control Predict the time required for the environmental temperature of the transmission system to reach room temperature from the map as the warm-up time, and reset the divergence suppression coefficient β when the start-up time after starting the engine exceeds the warm-up time Reset means) may be.

Further, in each of the above embodiments, the case where the divergence suppression coefficient β is reset to the initial value (β _k (k = 1)) has been described. However, the present invention is not limited to this. Any value is acceptable.

In each of the above embodiments, the residual vibration is detected by the load sensor 64 incorporated in the active engine mount 20. However, the present invention is not limited to this. May be provided with an acceleration sensor for detecting floor vibration, and the output signal of the acceleration sensor may be used as the residual vibration signal e.

In each of the above embodiments, a case has been described in which the active vibration control device of the present invention is applied to an active vibration control device for a vehicle that reduces vibration transmitted from the engine 17 to the vehicle body 18. However, the subject of the present invention is not limited to this, and the present invention can be applied to an active vibration control device for reducing vibration generated in a part other than the engine 17.

Further, for example, the engine 17 as a noise source
An active noise control device that reduces noise transmitted from the vehicle to the vehicle interior may be used. In the case of such an active noise control device, a loudspeaker as a control sound source for generating a control sound in the vehicle interior may be used. And a microphone as residual noise detecting means for detecting residual noise in the passenger compartment, and a temperature sensor as temperature detecting means for measuring the temperature in the passenger compartment, and are obtained by the same arithmetic processing as in the above embodiments. together to drive the loudspeaker in response to the drive signal y, used to update the processing of each filter coefficient W _i of the adaptive digital filter W output of the microphone as the residual noise signal e, if you run divergence suppression processing as described above, The same functions and effects as those of the above embodiments can be obtained.

The application of the present invention is not limited to a vehicle, but includes an active vibration control device, an active noise control device, and the like for reducing periodic vibration and noise generated by components other than the engine 17. Aperiodic vibration and noise (random /
The present invention can be applied to an active vibration control device and an active noise control device for reducing noise), and the same operation and effects as those of the above embodiments can be obtained regardless of the application target. For example, the present invention is applicable to a device for reducing vibration transmitted from a machine tool to a floor or a room.

Further, in each of the above embodiments, a synchronous filter is used as an algorithm for generating the drive signal y.
Although the dX LMS algorithm is applied, the applicable algorithm is not limited to this, and may be, for example, an ordinary Filtered-X LMS algorithm.

Here, in the present embodiment, the engine 17
Corresponds to the vibration source, the active engine mount 20 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generation means, the load sensor 64 corresponds to the residual vibration detection means, and the processing of FIG. In step S104, the process of outputting the filter coefficient W _i as the drive signal y in step 104 in synchronization with a predetermined sampling clock corresponds to the drive signal generation unit, and the process of step 107 in FIG. 4 corresponds to the filter coefficient update unit. 5 corresponds to the divergence detecting means, the processing of step 123 in FIG. 5 corresponds to the divergence suppressing means, the temperature sensor 26 corresponds to the temperature detecting means, and the processing of FIG. FIG. 9 corresponds to the means.
Steps 206 to 208 correspond to the divergence-corresponding divergence suppression term setting means.
The processing in step 204 corresponds to temperature-dependent divergence suppression term setting means for setting a temperature-dependent divergence suppression term, and the processing in step 210 in FIG. 9 corresponds to divergence suppression term update means.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment.

FIG. 2 is a plan view showing an example of an active engine mount.

FIG. 3 is a cross-sectional view taken along line AA and BB in FIG. 2;

FIG. 4 is a flowchart illustrating an outline of a vibration reduction process.

FIG. 5 is a flowchart illustrating an example of a divergence suppression process according to the first embodiment.

FIG. 6 is a flowchart illustrating an example of a divergence suppression coefficient reset process.

FIG. 7 is an explanatory diagram for explaining the operation of the present invention;

FIG. 8 is an explanatory diagram for explaining the operation of the present invention;

FIG. 9 is a flowchart illustrating an example of a divergence suppression process according to the second embodiment.

FIG. 10 is an example of a control map showing a correspondence between a temperature difference Δt and a divergence suppression coefficient β.

[Explanation of symbols]

 17 Engine (vibration source) 18 Body 19 Pulse signal generator (reference signal generation means) 20 Active engine mount (control vibration source) 25 Controller 26 Temperature sensor (temperature detection means) 52 Electromagnetic actuator 64 Load sensor (residual vibration detection means) ) 82 leaf spring

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) G10K 11/16 B60G 17/015 Z // B60G 17/015 G10K 11/16 (72) Inventor Hiroshi Kawazoe Yokohama City, Kanagawa Prefecture Nissan Motor Co., Ltd. 2 in Takaracho, Kanagawa-ku (72) Inventor Kazunobu Kawabata 2 Takaracho in Kanagawa-ku, Yokohama-shi, Kanagawa Prefecture Nissan Motor Co., Ltd. F-term (reference) 3D001 AA19 CA01 DA17 EA46 EB00 EB06 3D035 BA01 CA05 CA38 3J048 AB09 AB11 AB13 AB15 AD01 AD03 BA09 BA18 BE04 CB01 CB13 CB22 DA02 EA01 5D061 FF02 5H004 GA15 GB12 HA12 HA20 HB01 HB12 HB15 KA32 KA62 KC12 KC32 KC54 KC55 MA11

Claims (6)

[Claims] 1. A noise or vibration reduction control is performed using an adaptive digital filter whose filter coefficient is updated in accordance with an adaptive algorithm, and the filter coefficient update formula includes a transfer function of a sound or vibration transfer system and An active noise and vibration control device including a divergence suppression term having a divergence suppression effect of control, wherein when the divergence of control is detected, the divergence suppression term is changed in a divergence suppression direction. Reset means for changing the divergence suppression term in a direction opposite to the divergence suppression direction when the environmental temperature of the transmission system changes from a state different from the preset reference temperature to the reference temperature. Type noise and vibration control device. 2. A control sound source or control vibration source capable of generating a control sound or control vibration that interferes with noise or vibration generated from a noise source or a vibration source, and a reference signal indicating a generation state of the noise or vibration. Reference signal generating means, residual noise detecting means or residual vibration detecting means for detecting noise or vibration after the interference and outputting the residual noise signal or residual vibration signal, and an adaptive digital filter having a variable filter coefficient,
A drive signal generation unit configured to generate a drive signal for driving the control sound source or the control vibration source by filtering the reference signal with the adaptive digital filter, and the control sound source or the control vibration source set according to an adaptive algorithm; The filter coefficient of the adaptive digital filter is updated in accordance with an update formula including a transfer function of a transfer system of sound or vibration between the residual noise detection unit and the residual vibration detection unit and a divergence suppression term having a divergence suppression function of control. Filter coefficient updating means, divergence detection means for detecting divergence of control, and divergence suppression means for changing the divergence suppression term in the divergence suppression direction when the divergence detection means detects divergence of control. In the active noise and vibration control device, a temperature detecting unit that detects an environmental temperature of the transmission system, and a temperature detected by the temperature detecting unit. Reset means for changing the divergence suppression term in a direction opposite to the divergence suppression direction when the environmental temperature of the transmission system becomes a reference temperature from a state different from a preset reference temperature. Characteristic active noise and vibration control device. 3. The resetting means sets the divergence suppression term in a direction opposite to the divergence suppression direction when the environmental temperature rises from a state lower than a preset low temperature side threshold to a low temperature side threshold or more. 3. The active noise and vibration control device according to claim 1, wherein the active noise and vibration control device is changed. 4. The divergence-suppressing term is changed in a direction opposite to the divergence-suppressing direction when the environmental temperature falls from a state higher than a preset high-temperature-side threshold to a value equal to or lower than the high-temperature-side threshold. 4. The active noise and vibration control device according to claim 1, wherein the active noise and vibration control device is changed. 5. An active noise and vibration control apparatus for executing noise or vibration reduction control using an adaptive digital filter whose filter coefficient is updated in accordance with an adaptive algorithm, wherein the filter coefficient updating equation is a vibration transmission system. A divergence suppression term that sets a divergence corresponding divergence suppression term that changes in the divergence suppression direction when control divergence is detected. Setting means, temperature detecting means for detecting the environmental temperature of the transmission system, temperature-dependent divergence suppression term setting means for setting a temperature-dependent divergence suppression term that varies according to the environmental temperature of the transmission system, and the divergence corresponding divergence A divergence suppression term updating means for setting, as the divergence suppression term, a divergence suppression tendency of the suppression term and the temperature corresponding divergence suppression term, and an environmental temperature of the transmission system. Reset means for changing the divergence-corresponding divergence suppression term in a direction opposite to the divergence suppression direction when the reference temperature changes from a state different from the preset reference temperature to the reference temperature. apparatus. 6. A control vibration source capable of generating a control vibration interfering with a vibration emitted from an engine, a reference signal generating means for generating a reference signal indicating a state of generation of the vibration, and detecting the vibration after the interference. Residual vibration detecting means for outputting a residual vibration signal, an adaptive digital filter having a variable filter coefficient, and a drive signal generating means for filtering the reference signal with the adaptive digital filter to generate a drive signal for driving the control vibration source And, according to an update formula including a divergence suppression term having a divergence suppression function that is set according to an adaptive algorithm and has a transfer function of a vibration transfer system between the control vibration source and the residual vibration detection means and a control.
Filter coefficient updating means for updating the filter coefficient of the adaptive digital filter, divergence detecting means for detecting control divergence, and changing the divergence suppression term in the divergence suppression direction when the divergence detection means detects control divergence. And a divergence suppressing means for controlling the vehicle, comprising: a temperature detecting means for detecting an environmental temperature of the transmission system; and a controller when the environmental temperature before starting the engine is smaller than a predetermined threshold value. Elapsed time measuring means for detecting the elapsed time since the engine was started, and when the measured time of the elapsed time measuring means exceeds a preset warm-up time, the divergence suppression term is set in a direction opposite to the divergence suppression direction. An active vibration control device for a vehicle, comprising: